Medical imaging system with mechanical arm

Abstract

A medical imaging system with a mechanical arm ( 3 ) comprises a support ( 1 ), a probe ( 2 ), the mechanical arm ( 3 ), and a controller. The mechanical arm ( 3 ) is mounted on the support ( 1 ). The probe ( 2 ) is mounted at one end away from the support ( 1 ), of the mechanical arm ( 3 ). The controller can drive the mechanical arm ( 3 ) to drive the probe ( 2 ) to implement multi-degree-of-freedom movement. The medical imaging system uses a structure that the controller drives the mechanical arm ( 3 ) to drive the probe ( 2 ) to implement multi-degree-of-freedom movement, so that working intensity when staff such as doctors operates the probe can be lowered, thereby alleviating operation fatigue of the staff such as the doctors.

What is claimed is: 
     
         1 . A medical imaging system with a mechanical arm including a support ( 1 ) and a probe ( 2 ), wherein, the medical imaging system further includes the mechanical arm ( 3 ), and a controller, wherein the mechanical arm ( 3 ) is mounted on the support ( 1 ), the probe ( 2 ) is mounted at one end away from the support ( 1 ), of the mechanical arm ( 3 ), wherein the controller can control the mechanical arm ( 3 ) to drive the probe ( 2 ) for implementing a multi-degree-of-freedom movement. 
     
     
         2 . The medical imaging system with a mechanical arm according to  claim 1 , wherein the mechanical arm ( 3 ) includes a fixing part ( 31 ) mounted on the support ( 1 ), a motion arm ( 32 ) in transmission connection with the fixing part ( 31 ), and a clamping mechanism ( 33 ) in transmission connection with one end away from the fixing part ( 31 ), of the motion arm ( 32 ), wherein the probe ( 2 ) is mounted on the clamping mechanism ( 33 ). 
     
     
         3 . The medical imaging system with a mechanical arm according to  claim 2 , wherein the mechanical arm ( 3 ) further includes a first transmission mechanism ( 34 ), via which the motion arm ( 32 ) is in transmission connection with the fixing part ( 31 ), the first transmission mechanism ( 34 ) further includes a first motor mounted on the fixing part ( 31 ), a second motor ( 341 ) mounted on an output shaft of the first motor, a third motor ( 340 ) mounted on an output shaft of the second motor ( 341 ), wherein the output shaft of the first motor and the output shaft of the second motor ( 341 ) are arranged mutually perpendicular to each other, the motion arm ( 32 ) is mounted on an output shaft of the third motor ( 340 ). 
     
     
         4 . The medical imaging system with a mechanical arm according to  claim 2 , wherein the mechanical arm ( 3 ) further includes a second transmission mechanism ( 35 ), via which the clamping mechanism ( 33 ) is in transmission connection with one end away from the fixing part ( 31 ), of the motion arm ( 32 ); wherein the second transmission mechanism ( 35 ) further includes a fourth motor ( 350 ) mounted on one end away from the fixing part ( 31 ), of the motion arm ( 32 ) and a fifth motor ( 351 ) mounted on an output shaft of the fourth motor ( 350 ), the output shaft of the fourth motor ( 350 ) and the output shaft of the fifth motor ( 351 ) are arranged mutually perpendicular to each other, the clamping mechanism ( 33 ) is mounted on an output shaft of the fifth motor ( 351 ). 
     
     
         5 . The medical imaging system with a mechanical arm according to  claim 2 , wherein the motion arm ( 32 ) includes a first motion arm ( 321 ) in transmission connection with the fixing part ( 31 ), a second motion arm ( 322 ) in transmission connection with the first motion arm ( 321 ), and a third motion arm ( 323 ) in transmission connection with the second motion arm ( 322 ), one end of the third motion arm ( 323 ) away from the second motion arm ( 322 ) is in transmission connection with the clamping mechanism ( 33 ). 
     
     
         6 . The medical imaging system with a mechanical arm according to  claim 5 , wherein the mechanical arm ( 3 ) further includes a third transmission mechanism ( 36 ), via which the second motion arm ( 322 ) is in transmission connection with the first motion arm ( 321 ), the third transmission mechanism ( 36 ) further includes a sixth motor ( 361 ) mounted on the first motion arm ( 321 ), the second motion arm ( 322 ) is mounted on an output shaft of the sixth motor ( 361 ), the second motion arm ( 322 ) and the output shaft of the sixth motor ( 361 ) are arranged mutually perpendicular to each other. 
     
     
         7 . The medical imaging system with a mechanical arm according to  claim 5 , wherein the mechanical arm ( 3 ) further includes a fourth transmission mechanism ( 37 ), via which the third motion arm ( 323 ) is in transmission connection with the second motion arm ( 322 ), the fourth transmission mechanism ( 37 ) further includes a seventh motor ( 371 ) mounted on the second motion arm ( 322 ), the third motion arm ( 323 ) is mounted on an output shaft of the seventh motor ( 371 ), the third motion arm ( 323 ) and the output shaft of the seventh motor ( 371 ) are arranged mutually perpendicular to each other. 
     
     
         8 . The medical imaging system with a mechanical arm according to  claim 1 , wherein further including a position sensor and a pressure sensor mounted on the mechanical arm ( 3 ), wherein the controller can control a movement of the mechanical arm ( 3 ) according to signals detected by the position sensor and the pressure sensor. 
     
     
         9 . The medical imaging system with a mechanical arm according to  claim 2 , wherein the clamping mechanism ( 33 ) includes a connection element ( 331 ) in transmission connection with the motion arm ( 32 ), and a pair of clamping bodies ( 332 ) extending from two opposite sides of the connection element ( 331 ) and toward each other, wherein the probe ( 2 ) is clamped between the pair of clamping bodies ( 332 ). 
     
     
         10 . The medical imaging system with a mechanical arm according to  claim 1 , wherein the support ( 1 ) has a vertical structure and the mechanical arm ( 3 ) is arranged on one side of the support ( 1 ).